Week 2- 2R Robotic Arm Challenge

Aim : to create a matlab program that stimulates the forward kinematics of a 2R robotic arm.

close all
clear all
clc

%inputs
l1 = 1;
l2 = 0.5;

theta1 = linspace(0, 90, 10);
theta2 = linspace(0, 90, 10);

%for loop command
ct =1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
        for j = 1:length(theta2)
            THETA2 = theta2(j);
            
            x0 = 0;
            y0 = 0;

            x1 = l1*cosd(THETA1);
            y1 = l1*sind(THETA1);

            x2 = x1 + l2*cosd(THETA2);
            y2 = y1 + l2*sind(THETA2);

            %plotting

            plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
            xlabel('x');
            ylabel('y');
            axis([-0.1 2 0 2])
            pause(0.03)
            M(ct) = getframe(gcf);
            ct = ct +1;
        end
end
movie(M)
videofile = VideoWriter('forwardkinematics.avi' ,'Uncompressed AVI');
open(videofile)
writeVideo(videofile, M)
close(videofile)
       
           

Youtibe link for the animation video - 2R Robotic arm - forward kinematics - YouTube